From 36b4938c093c47e742fa4c404f25a21b4a3e053f Mon Sep 17 00:00:00 2001
From: LM <lm@student.ethz.ch>
Date: Tue, 20 Sep 2011 11:03:56 +0200
Subject: [PATCH] Fixed roll angle in Google earth, still not smooth. Fixed a
number of threading issues. Fixed all custom widget related bugs. Improved
MAVLink decoder. Reduced CPU usage substantially across all views
---
images/earth.html | 14 ++--
src/comm/MAVLinkProtocol.cc | 11 +---
src/comm/MAVLinkProtocol.h | 1 -
src/comm/ProtocolInterface.h | 2 +-
src/uas/UAS.cc | 26 +++++---
src/uas/UAS.h | 4 +-
src/uas/UASManager.cc | 11 ----
src/uas/UASManager.h | 3 +-
src/ui/HDDisplay.cc | 14 ++--
src/ui/HDDisplay.h | 5 +-
src/ui/HSIDisplay.cc | 1 +
src/ui/HSIDisplay.h | 1 +
src/ui/MAVLinkDecoder.cc | 7 +-
src/ui/MAVLinkDecoder.h | 1 +
src/ui/MainWindow.cc | 7 +-
src/ui/QGCParamWidget.cc | 3 +-
src/ui/QGCParamWidget.h | 4 +-
src/ui/QGCToolBar.cc | 3 +-
src/ui/designer/QGCCommandButton.cc | 7 +-
src/ui/designer/QGCParamSlider.cc | 128 +++++++++++++++++++++++++++++-------
src/ui/designer/QGCParamSlider.h | 7 +-
src/ui/designer/QGCParamSlider.ui | 14 +++-
src/ui/designer/QGCToolWidget.cc | 20 ++++--
src/ui/designer/QGCToolWidget.h | 2 +
src/ui/map3D/QGCGoogleEarthView.cc | 39 ++++++-----
src/ui/uas/UASView.cc | 4 +-
26 files changed, 234 insertions(+), 105 deletions(-)
diff --git a/images/earth.html b/images/earth.html
index 363e97d..7666c68 100644
--- a/images/earth.html
+++ b/images/earth.html
@@ -683,11 +683,17 @@ function updateFollowAircraft()
if (viewMode != 3) // VIEW_MODE_CHASE_FREE
{
- currView.setTilt(currFollowTilt);
- currView.setHeading(currFollowHeading);
+ ge.getView().setAbstractView(currView);
+ var camera = ge.getView().copyAsCamera(ge.ALTITUDE_ABSOLUTE);
+ camera.setTilt(currFollowTilt);
+ camera.setRoll(0);
+ camera.setHeading(currFollowHeading);
+ ge.getView().setAbstractView(camera);
+ }
+ else
+ {
+ ge.getView().setAbstractView(currView);
}
-
- ge.getView().setAbstractView(currView);
}
function failureCallback(object)
diff --git a/src/comm/MAVLinkProtocol.cc b/src/comm/MAVLinkProtocol.cc
index c975182..f970c49 100644
--- a/src/comm/MAVLinkProtocol.cc
+++ b/src/comm/MAVLinkProtocol.cc
@@ -147,13 +147,6 @@ MAVLinkProtocol::~MAVLinkProtocol()
}
}
-
-
-void MAVLinkProtocol::run()
-{
- exec();
-}
-
QString MAVLinkProtocol::getLogfileName()
{
if (m_logfile) {
@@ -173,7 +166,7 @@ QString MAVLinkProtocol::getLogfileName()
**/
void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
{
- receiveMutex.lock();
+// receiveMutex.lock();
mavlink_message_t message;
mavlink_status_t status;
for (int position = 0; position < b.size(); position++) {
@@ -330,7 +323,7 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
}
}
}
- receiveMutex.unlock();
+// receiveMutex.unlock();
}
/**
diff --git a/src/comm/MAVLinkProtocol.h b/src/comm/MAVLinkProtocol.h
index b074985..57e80c8 100644
--- a/src/comm/MAVLinkProtocol.h
+++ b/src/comm/MAVLinkProtocol.h
@@ -57,7 +57,6 @@ public:
MAVLinkProtocol();
~MAVLinkProtocol();
- void run();
/** @brief Get the human-friendly name of this protocol */
QString getName();
/** @brief Get the system id of this application */
diff --git a/src/comm/ProtocolInterface.h b/src/comm/ProtocolInterface.h
index 070c675..6f0e583 100644
--- a/src/comm/ProtocolInterface.h
+++ b/src/comm/ProtocolInterface.h
@@ -46,7 +46,7 @@ This file is part of the PIXHAWK project
* @see LinkManager.
*
**/
-class ProtocolInterface : public QThread
+class ProtocolInterface : public QObject
{
Q_OBJECT
public:
diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc
index 5429ae6..3979f71 100644
--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -1733,6 +1733,20 @@ void UAS::setParameter(const int component, const QString& id, const QVariant& v
}
}
+void UAS::requestParameter(int component, int id)
+{
+ // Request parameter, use parameter name to request it
+ mavlink_message_t msg;
+ mavlink_param_request_read_t read;
+ read.param_index = id;
+ read.param_id[0] = '\0'; // Enforce null termination
+ read.target_system = uasId;
+ read.target_component = component;
+ mavlink_msg_param_request_read_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &read);
+ sendMessage(msg);
+ qDebug() << __FILE__ << __LINE__ << "REQUESTING PARAM RETRANSMISSION FROM COMPONENT" << component << "FOR PARAM ID" << id;
+}
+
void UAS::requestParameter(int component, const QString& parameter)
{
// Request parameter, use parameter name to request it
@@ -1750,7 +1764,7 @@ void UAS::requestParameter(int component, const QString& parameter)
read.target_component = component;
mavlink_msg_param_request_read_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &read);
sendMessage(msg);
- qDebug() << __FILE__ << __LINE__ << "REQUESTING PARAM RETRANSMISSION FROM COMPONENT" << component << "FOR PARAM ID" << parameter;
+ qDebug() << __FILE__ << __LINE__ << "REQUESTING PARAM RETRANSMISSION FROM COMPONENT" << component << "FOR PARAM NAME" << parameter;
}
void UAS::setSystemType(int systemType)
@@ -1840,13 +1854,9 @@ void UAS::executeCommand(MAV_CMD command, int confirmation, float param1, float
**/
void UAS::launch()
{
- // FIXME MAVLINKV10PORTINGNEEDED
-// mavlink_message_t msg;
-// // TODO Replace MG System ID with static function call and allow to change ID in GUI
-// mavlink_msg_action_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, this->getUASID(), MAV_COMP_ID_IMU, (uint8_t)MAV_ACTION_TAKEOFF);
-// // Send message twice to increase chance of reception
-// sendMessage(msg);
-// sendMessage(msg);
+ mavlink_message_t msg;
+ mavlink_msg_command_short_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, this->getUASID(), 0, MAV_CMD_NAV_TAKEOFF, 1, 0, 0, 0, 0);
+ sendMessage(msg);
}
/**
diff --git a/src/uas/UAS.h b/src/uas/UAS.h
index e9b0823..ad263b8 100644
--- a/src/uas/UAS.h
+++ b/src/uas/UAS.h
@@ -465,8 +465,10 @@ public slots:
/** @brief Request all parameters */
void requestParameters();
- /** @brief Request a single parameter by index */
+ /** @brief Request a single parameter by name */
void requestParameter(int component, const QString& parameter);
+ /** @brief Request a single parameter by index */
+ void requestParameter(int component, int id);
/** @brief Set a system parameter */
void setParameter(const int component, const QString& id, const QVariant& value);
diff --git a/src/uas/UASManager.cc b/src/uas/UASManager.cc
index 64a83a4..36b4eea 100644
--- a/src/uas/UASManager.cc
+++ b/src/uas/UASManager.cc
@@ -216,7 +216,6 @@ UASManager::UASManager() :
homeLon(8.549444),
homeAlt(470.0)
{
- start(QThread::LowPriority);
loadSettings();
setLocalNEDSafetyBorders(1, -1, 0, -1, 1, -1);
}
@@ -230,16 +229,6 @@ UASManager::~UASManager()
}
}
-
-void UASManager::run()
-{
- // forever
- // {
- // QGC::SLEEP::msleep(5000);
- // }
- exec();
-}
-
void UASManager::addUAS(UASInterface* uas)
{
// WARNING: The active uas is set here
diff --git a/src/uas/UASManager.h b/src/uas/UASManager.h
index c197327..6407e83 100644
--- a/src/uas/UASManager.h
+++ b/src/uas/UASManager.h
@@ -44,7 +44,7 @@ This file is part of the QGROUNDCONTROL project
* This class keeps a list of all connected / configured UASs. It also stores which
* UAS is currently select with respect to user input or manual controls.
**/
-class UASManager : public QThread
+class UASManager : public QObject
{
Q_OBJECT
@@ -52,7 +52,6 @@ public:
static UASManager* instance();
~UASManager();
- void run();
/**
* @brief Get the currently selected UAS
*
diff --git a/src/ui/HDDisplay.cc b/src/ui/HDDisplay.cc
index 8ee4b3c..c786af6 100644
--- a/src/ui/HDDisplay.cc
+++ b/src/ui/HDDisplay.cc
@@ -50,7 +50,8 @@ HDDisplay::HDDisplay(QStringList* plotList, QString title, QWidget *parent) :
acceptUnitList(new QStringList()),
lastPaintTime(0),
columns(3),
- m_ui(new Ui::HDDisplay)
+ valuesChanged(true)/*,
+ m_ui(new Ui::HDDisplay)*/
{
setWindowTitle(title);
//m_ui->setupUi(this);
@@ -65,9 +66,6 @@ HDDisplay::HDDisplay(QStringList* plotList, QString title, QWidget *parent) :
}
restoreState();
-
- // Set minimum size
- setMinimumSize(60, 60);
// Set preferred size
setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding);
@@ -109,6 +107,7 @@ HDDisplay::HDDisplay(QStringList* plotList, QString title, QWidget *parent) :
// setCursor(Qt::OpenHandCursor);
+ // Set minimum size
this->setMinimumHeight(125);
this->setMinimumWidth(100);
@@ -231,6 +230,8 @@ void HDDisplay::restoreState()
QSettings settings;
settings.sync();
+ acceptList->clear();
+
QStringList instruments = settings.value(windowTitle()+"_gauges").toString().split('|');
for (int i = 0; i < instruments.count(); i++) {
addGauge(instruments.at(i));
@@ -385,6 +386,8 @@ void HDDisplay::setTitle()
void HDDisplay::renderOverlay()
{
+ if (!valuesChanged || !isVisible()) return;
+
#if (QGC_EVENTLOOP_DEBUG)
qDebug() << "EVENTLOOP:" << __FILE__ << __LINE__;
#endif
@@ -666,7 +669,7 @@ void HDDisplay::drawSystemIndicator(float xRef, float yRef, int maxNum, float ma
// x speed: 2.54
// One column per value
- QMapIterator<QString, float> value(values);
+ QMapIterator<QString, double> value(values);
float x = xRef;
float y = yRef;
@@ -820,6 +823,7 @@ void HDDisplay::updateValue(const int uasId, const QString& name, const QString&
valuesMean.insert(name, (oldMean * meanCount + value) / (meanCount + 1));
valuesCount.insert(name, meanCount + 1);
valuesDot.insert(name, (value - values.value(name, 0.0f)) / ((msec - lastUpdate.value(name, 0))/1000.0f));
+ if (values.value(name, 0.0) != value) valuesChanged = true;
values.insert(name, value);
units.insert(name, unit);
lastUpdate.insert(name, msec);
diff --git a/src/ui/HDDisplay.h b/src/ui/HDDisplay.h
index 4c2c430..15a2240 100644
--- a/src/ui/HDDisplay.h
+++ b/src/ui/HDDisplay.h
@@ -139,7 +139,7 @@ protected:
// virtual void resizeEvent(QResizeEvent* event);
UASInterface* uas; ///< The uas currently monitored
- QMap<QString, float> values; ///< The variables this HUD displays
+ QMap<QString, double> values; ///< The variables this HUD displays
QMap<QString, QString> units; ///< The units
QMap<QString, float> valuesDot; ///< First derivative of the variable
QMap<QString, float> valuesMean; ///< Mean since system startup for this variable
@@ -172,7 +172,7 @@ protected:
int warningBlinkRate; ///< Blink rate of warning messages, will be rounded to the refresh rate
QTimer* refreshTimer; ///< The main timer, controls the update rate
- static const int updateInterval = 120; ///< Update interval in milliseconds
+ static const int updateInterval = 300; ///< Update interval in milliseconds
QPainter* hudPainter;
QFont font; ///< The HUD font, per default the free Bitstream Vera SANS, which is very close to actual HUD fonts
QFontDatabase fontDatabase;///< Font database, only used to load the TrueType font file (the HUD font is directly loaded from file rather than from the system)
@@ -191,6 +191,7 @@ protected:
QAction* addGaugeAction; ///< Action adding a gauge
QAction* setTitleAction; ///< Action setting the title
QAction* setColumnsAction; ///< Action setting the number of columns
+ bool valuesChanged;
private:
Ui::HDDisplay *m_ui;
diff --git a/src/ui/HSIDisplay.cc b/src/ui/HSIDisplay.cc
index d397b51..ad6907e 100644
--- a/src/ui/HSIDisplay.cc
+++ b/src/ui/HSIDisplay.cc
@@ -179,6 +179,7 @@ void HSIDisplay::paintEvent(QPaintEvent * event)
void HSIDisplay::renderOverlay()
{
+ if (!isVisible()) return;
#if (QGC_EVENTLOOP_DEBUG)
qDebug() << "EVENTLOOP:" << __FILE__ << __LINE__;
#endif
diff --git a/src/ui/HSIDisplay.h b/src/ui/HSIDisplay.h
index 82ab782..320b577 100644
--- a/src/ui/HSIDisplay.h
+++ b/src/ui/HSIDisplay.h
@@ -79,6 +79,7 @@ public slots:
/** @brief Ultrasound/Infrared localization changed */
void updateInfraredUltrasoundLocalization(UASInterface* uas, int fix);
+ /** @brief Repaint the widget */
void paintEvent(QPaintEvent * event);
/** @brief Update state from joystick */
void updateJoystick(double roll, double pitch, double yaw, double thrust, int xHat, int yHat);
diff --git a/src/ui/MAVLinkDecoder.cc b/src/ui/MAVLinkDecoder.cc
index 57fa865..51862e7 100644
--- a/src/ui/MAVLinkDecoder.cc
+++ b/src/ui/MAVLinkDecoder.cc
@@ -21,6 +21,11 @@ MAVLinkDecoder::MAVLinkDecoder(MAVLinkProtocol* protocol, QObject *parent) :
messageFilter.insert(MAVLINK_MSG_ID_MISSION_COUNT, false);
messageFilter.insert(MAVLINK_MSG_ID_MISSION_ACK, false);
+ textMessageFilter.insert(MAVLINK_MSG_ID_DEBUG, false);
+ textMessageFilter.insert(MAVLINK_MSG_ID_DEBUG_VECT, false);
+ textMessageFilter.insert(MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, false);
+ textMessageFilter.insert(MAVLINK_MSG_ID_NAMED_VALUE_INT, false);
+
connect(protocol, SIGNAL(messageReceived(LinkInterface*,mavlink_message_t)), this, SLOT(receiveMessage(LinkInterface*,mavlink_message_t)));
}
@@ -81,7 +86,7 @@ void MAVLinkDecoder::emitFieldValue(mavlink_message_t* msg, int fieldid, quint64
// Enforce null termination
str[messageInfo[msgid].fields[fieldid].array_length-1] = '\0';
QString string(name + ": " + str);
- emit textMessageReceived(msg->sysid, msg->compid, 0, string);
+ if (!textMessageFilter.contains(msgid)) emit textMessageReceived(msg->sysid, msg->compid, 0, string);
}
else
{
diff --git a/src/ui/MAVLinkDecoder.h b/src/ui/MAVLinkDecoder.h
index 4e55eb4..54f9894 100644
--- a/src/ui/MAVLinkDecoder.h
+++ b/src/ui/MAVLinkDecoder.h
@@ -29,6 +29,7 @@ protected:
mavlink_message_t receivedMessages[256]; ///< Available / known messages
mavlink_message_info_t messageInfo[256]; ///< Message information
QMap<uint16_t, bool> messageFilter; ///< Message/field names not to emit
+ QMap<uint16_t, bool> textMessageFilter; ///< Message/field names not to emit in text mode
};
diff --git a/src/ui/MainWindow.cc b/src/ui/MainWindow.cc
index 124b0e1..72b3161 100644
--- a/src/ui/MainWindow.cc
+++ b/src/ui/MainWindow.cc
@@ -1249,11 +1249,8 @@ void MainWindow::UASCreated(UASInterface* uas)
if (!ui.menuConnected_Systems->isEnabled()) ui.menuConnected_Systems->setEnabled(true);
-// // Restore the mainwindow size
-// if (settings.contains(getWindowGeometryKey()))
-// {
-// restoreGeometry(settings.value(getWindowGeometryKey()).toByteArray());
-// }
+ // Reload view state in case new widgets were added
+ loadViewState();
}
/**
diff --git a/src/ui/QGCParamWidget.cc b/src/ui/QGCParamWidget.cc
index 4b02cdb..997d63d 100644
--- a/src/ui/QGCParamWidget.cc
+++ b/src/ui/QGCParamWidget.cc
@@ -131,6 +131,7 @@ QGCParamWidget::QGCParamWidget(UASInterface* uas, QWidget *parent) :
connect(uas, SIGNAL(parameterChanged(int,int,int,int,QString,QVariant)), this, SLOT(addParameter(int,int,int,int,QString,QVariant)));
// Connect retransmission guard
+ connect(this, SIGNAL(requestParameter(int,QString)), uas, SLOT(requestParameter(int,QString)));
connect(this, SIGNAL(requestParameter(int,int)), uas, SLOT(requestParameter(int,int)));
connect(&retransmissionTimer, SIGNAL(timeout()), this, SLOT(retransmissionGuardTick()));
}
@@ -474,7 +475,7 @@ void QGCParamWidget::addParameter(int uas, int component, QString parameterName,
// componentName = tr("Component #").arg(component);
// break;
// }
- QString componentName = tr("Component #").arg(component);
+ QString componentName = tr("Component #%1").arg(component);
addComponent(uas, component, componentName);
}
diff --git a/src/ui/QGCParamWidget.h b/src/ui/QGCParamWidget.h
index 3d9bcf6..13c2009 100644
--- a/src/ui/QGCParamWidget.h
+++ b/src/ui/QGCParamWidget.h
@@ -53,8 +53,10 @@ public:
signals:
/** @brief A parameter was changed in the widget, NOT onboard */
void parameterChanged(int component, QString parametername, QVariant value);
- /** @brief Request a single parameter */
+ /** @brief Request a single parameter by index */
void requestParameter(int component, int parameter);
+ /** @brief Request a single parameter by name */
+ void requestParameter(int component, const QString& parameter);
public slots:
/** @brief Add a component to the list */
void addComponent(int uas, int component, QString componentName);
diff --git a/src/ui/QGCToolBar.cc b/src/ui/QGCToolBar.cc
index f9641ab..7797526 100644
--- a/src/ui/QGCToolBar.cc
+++ b/src/ui/QGCToolBar.cc
@@ -214,7 +214,7 @@ void QGCToolBar::setActiveUAS(UASInterface* active)
disconnect(mav, SIGNAL(batteryChanged(UASInterface*,double,double,int)), this, SLOT(updateBatteryRemaining(UASInterface*,double,double,int)));
if (mav->getWaypointManager())
{
- disconnect(mav->getWaypointManager(), SIGNAL(currentWaypointChanged(int)), this, SLOT(updateCurrentWaypoint(int)));
+ disconnect(mav->getWaypointManager(), SIGNAL(currentWaypointChanged(quint16)), this, SLOT(updateCurrentWaypoint(quint16)));
disconnect(mav->getWaypointManager(), SIGNAL(waypointDistanceChanged(double)), this, SLOT(updateWaypointDistance(double)));
}
}
@@ -234,6 +234,7 @@ void QGCToolBar::setActiveUAS(UASInterface* active)
}
// Update all values once
+ systemName = mav->getUASName();
toolBarNameLabel->setText(mav->getUASName());
toolBarNameLabel->setStyleSheet(QString("QLabel { font: bold 16px; color: %1; }").arg(mav->getColor().name()));
symbolButton->setStyleSheet(QString("QWidget { background-color: %1; color: #DDDDDF; background-clip: border; } QToolButton { font-weight: bold; font-size: 12px; border: 0px solid #999999; border-radius: 5px; min-width:22px; max-width: 22px; min-height: 22px; max-height: 22px; padding: 0px; margin: 0px 4px 0px 20px; background-color: none; }").arg(mav->getColor().name()));
diff --git a/src/ui/designer/QGCCommandButton.cc b/src/ui/designer/QGCCommandButton.cc
index d4cebf6..8f09ad0 100644
--- a/src/ui/designer/QGCCommandButton.cc
+++ b/src/ui/designer/QGCCommandButton.cc
@@ -170,12 +170,15 @@ void QGCCommandButton::readSettings(const QSettings& settings)
}
ui->editParamsVisibleCheckBox->setChecked(settings.value("QGC_COMMAND_BUTTON_PARAMS_VISIBLE").toBool());
- if (ui->editParamsVisibleCheckBox->isChecked()) {
+ if (ui->editParamsVisibleCheckBox->isChecked())
+ {
ui->editParam1SpinBox->show();
ui->editParam2SpinBox->show();
ui->editParam3SpinBox->show();
ui->editParam4SpinBox->show();
- } else {
+ }
+ else
+ {
ui->editParam1SpinBox->hide();
ui->editParam2SpinBox->hide();
ui->editParam3SpinBox->hide();
diff --git a/src/ui/designer/QGCParamSlider.cc b/src/ui/designer/QGCParamSlider.cc
index c1651e3..1f85dc2 100644
--- a/src/ui/designer/QGCParamSlider.cc
+++ b/src/ui/designer/QGCParamSlider.cc
@@ -20,6 +20,7 @@ QGCParamSlider::QGCParamSlider(QWidget *parent) :
ui(new Ui::QGCParamSlider)
{
ui->setupUi(this);
+ ui->intValueSpinBox->hide();
uas = NULL;
scaledInt = ui->valueSlider->maximum() - ui->valueSlider->minimum();
@@ -45,12 +46,14 @@ QGCParamSlider::QGCParamSlider(QWidget *parent) :
connect(ui->editSelectComponentComboBox, SIGNAL(currentIndexChanged(int)), this, SLOT(selectComponent(int)));
connect(ui->editSelectParamComboBox, SIGNAL(currentIndexChanged(int)), this, SLOT(selectParameter(int)));
connect(ui->valueSlider, SIGNAL(valueChanged(int)), this, SLOT(setSliderValue(int)));
- connect(ui->valueSpinBox, SIGNAL(valueChanged(double)), this, SLOT(setParamValue(double)));
+ connect(ui->doubleValueSpinBox, SIGNAL(valueChanged(double)), this, SLOT(setParamValue(double)));
+ connect(ui->intValueSpinBox, SIGNAL(valueChanged(int)), this, SLOT(setParamValue(int)));
connect(ui->editNameLabel, SIGNAL(textChanged(QString)), ui->nameLabel, SLOT(setText(QString)));
connect(ui->readButton, SIGNAL(clicked()), this, SLOT(requestParameter()));
connect(ui->editRefreshParamsButton, SIGNAL(clicked()), this, SLOT(refreshParamList()));
// Set the current UAS if present
+ connect(UASManager::instance(), SIGNAL(activeUASSet(UASInterface*)), this, SLOT(setActiveUAS(UASInterface*)));
setActiveUAS(UASManager::instance()->getActiveUAS());
// Get param value
@@ -66,21 +69,26 @@ void QGCParamSlider::refreshParamList()
{
ui->editSelectParamComboBox->setEnabled(true);
ui->editSelectComponentComboBox->setEnabled(true);
- if (uas) {
+ if (uas)
+ {
uas->getParamManager()->requestParameterList();
}
}
void QGCParamSlider::setActiveUAS(UASInterface* activeUas)
{
- if (activeUas) {
- if (uas) {
- disconnect(uas, SIGNAL(parameterChanged(int,int,int,int,QString,float)), this, SLOT(setParameterValue(int,int,int,int,QString,float)));
+ if (activeUas)
+ {
+ if (uas)
+ {
+ disconnect(uas, SIGNAL(parameterChanged(int,int,int,int,QString,QVariant)), this, SLOT(setParameterValue(int,int,int,int,QString,QVariant)));
}
// Connect buttons and signals
- connect(activeUas, SIGNAL(parameterChanged(int,int,int,int,QString,float)), this, SLOT(setParameterValue(int,int,int,int,QString,float)), Qt::UniqueConnection);
+ connect(activeUas, SIGNAL(parameterChanged(int,int,int,int,QString,QVariant)), this, SLOT(setParameterValue(int,int,int,int,QString,QVariant)), Qt::UniqueConnection);
uas = activeUas;
+ // Update current param value
+ requestParameter();
}
}
@@ -98,6 +106,12 @@ void QGCParamSlider::setParamValue(double value)
ui->valueSlider->setValue(floatToScaledInt(value));
}
+void QGCParamSlider::setParamValue(int value)
+{
+ parameterValue = value;
+ ui->valueSlider->setValue(floatToScaledInt(value));
+}
+
void QGCParamSlider::selectComponent(int componentIndex)
{
this->component = ui->editSelectComponentComboBox->itemData(componentIndex).toInt();
@@ -111,7 +125,8 @@ void QGCParamSlider::selectParameter(int paramIndex)
void QGCParamSlider::startEditMode()
{
ui->valueSlider->hide();
- ui->valueSpinBox->hide();
+ ui->doubleValueSpinBox->hide();
+ ui->intValueSpinBox->hide();
ui->nameLabel->hide();
ui->writeButton->hide();
ui->readButton->hide();
@@ -156,7 +171,21 @@ void QGCParamSlider::endEditMode()
ui->writeButton->show();
ui->readButton->show();
ui->valueSlider->show();
- ui->valueSpinBox->show();
+ switch (parameterValue.type())
+ {
+ case QVariant::Int:
+ ui->intValueSpinBox->show();
+ break;
+ case QVariant::UInt:
+ ui->intValueSpinBox->show();
+ break;
+ case QMetaType::Float:
+ ui->doubleValueSpinBox->show();
+ break;
+ default:
+ qCritical() << "ERROR: NO VALID PARAM TYPE";
+ return;
+ }
ui->nameLabel->show();
isInEditMode = false;
emit editingFinished();
@@ -164,10 +193,20 @@ void QGCParamSlider::endEditMode()
void QGCParamSlider::sendParameter()
{
- if (uas) {
+ if (uas)
+ {
// Set value, param manager handles retransmission
- uas->getParamManager()->setParameter(component, parameterName, parameterValue);
- } else {
+ if (uas->getParamManager())
+ {
+ uas->getParamManager()->setParameter(component, parameterName, parameterValue);
+ }
+ else
+ {
+ qDebug() << "UAS HAS NO PARAM MANAGER, DOING NOTHING";
+ }
+ }
+ else
+ {
qDebug() << __FILE__ << __LINE__ << "NO UAS SET, DOING NOTHING";
}
}
@@ -175,9 +214,21 @@ void QGCParamSlider::sendParameter()
void QGCParamSlider::setSliderValue(int sliderValue)
{
parameterValue = scaledIntToFloat(sliderValue);
- ui->valueSpinBox->setValue(parameterValue);
-// QString unit("");
-// ui->valueLabel->setText(QString("%1 %2").arg(parameterValue, 6, 'f', 6, ' ').arg(unit));
+ switch (parameterValue.type())
+ {
+ case QVariant::Int:
+ ui->intValueSpinBox->setValue(parameterValue.toInt());
+ break;
+ case QVariant::UInt:
+ ui->intValueSpinBox->setValue(parameterValue.toUInt());
+ break;
+ case QMetaType::Float:
+ ui->doubleValueSpinBox->setValue(parameterValue.toFloat());
+ break;
+ default:
+ qCritical() << "ERROR: NO VALID PARAM TYPE";
+ return;
+ }
}
/**
@@ -186,38 +237,67 @@ void QGCParamSlider::setSliderValue(int sliderValue)
* @brief parameterName Key/name of the parameter
* @brief value Value of the parameter
*/
-void QGCParamSlider::setParameterValue(int uas, int component, int paramCount, int paramIndex, QString parameterName, float value)
+void QGCParamSlider::setParameterValue(int uas, int component, int paramCount, int paramIndex, QString parameterName, QVariant value)
{
Q_UNUSED(paramCount);
// Check if this component and parameter are part of the list
bool found = false;
- for (int i = 0; i< ui->editSelectComponentComboBox->count(); ++i) {
- if (component == ui->editSelectComponentComboBox->itemData(i).toInt()) {
+ for (int i = 0; i< ui->editSelectComponentComboBox->count(); ++i)
+ {
+ if (component == ui->editSelectComponentComboBox->itemData(i).toInt())
+ {
found = true;
}
}
- if (!found) {
+ if (!found)
+ {
ui->editSelectComponentComboBox->addItem(tr("Component #%1").arg(component), component);
}
// Parameter checking
found = false;
- for (int i = 0; i < ui->editSelectParamComboBox->count(); ++i) {
- if (parameterName == ui->editSelectParamComboBox->itemText(i)) {
+ for (int i = 0; i < ui->editSelectParamComboBox->count(); ++i)
+ {
+ if (parameterName == ui->editSelectParamComboBox->itemText(i))
+ {
found = true;
}
}
- if (!found) {
+ if (!found)
+ {
ui->editSelectParamComboBox->addItem(parameterName, paramIndex);
}
Q_UNUSED(uas);
- if (component == this->component && parameterName == this->parameterName) {
+ if (component == this->component && parameterName == this->parameterName)
+ {
parameterValue = value;
- ui->valueSpinBox->setValue(value);
- ui->valueSlider->setValue(floatToScaledInt(value));
+ switch (value.type())
+ {
+ case QVariant::Int:
+ ui->intValueSpinBox->show();
+ ui->doubleValueSpinBox->hide();
+ ui->intValueSpinBox->setValue(value.toDouble());
+ ui->intValueSpinBox->setMinimum(-ui->intValueSpinBox->maximum());
+ break;
+ case QVariant::UInt:
+ ui->intValueSpinBox->show();
+ ui->doubleValueSpinBox->hide();
+ ui->intValueSpinBox->setValue(value.toDouble());
+ ui->intValueSpinBox->setMinimum(0);
+ break;
+ case QMetaType::Float:
+ ui->doubleValueSpinBox->setValue(value.toDouble());
+ ui->doubleValueSpinBox->show();
+ ui->intValueSpinBox->hide();
+ break;
+ default:
+ qCritical() << "ERROR: NO VALID PARAM TYPE";
+ return;
+ }
+ ui->valueSlider->setValue(floatToScaledInt(value.toDouble()));
}
}
diff --git a/src/ui/designer/QGCParamSlider.h b/src/ui/designer/QGCParamSlider.h
index 94783c5..6e9612d 100644
--- a/src/ui/designer/QGCParamSlider.h
+++ b/src/ui/designer/QGCParamSlider.h
@@ -28,14 +28,17 @@ public slots:
/** @brief Set the slider value as parameter value */
void setSliderValue(int sliderValue);
/** @brief Update the UI with the new parameter value */
- void setParameterValue(int uas, int component, int paramCount, int paramIndex, QString parameterName, float value);
+ void setParameterValue(int uas, int component, int paramCount, int paramIndex, QString parameterName, const QVariant value);
void writeSettings(QSettings& settings);
void readSettings(const QSettings& settings);
void refreshParamList();
void setActiveUAS(UASInterface *uas);
void selectComponent(int componentIndex);
void selectParameter(int paramIndex);
+ /** @brief Set a double parameter value */
void setParamValue(double value);
+ /** @brief Set an integer parameter value */
+ void setParamValue(int value);
protected slots:
/** @brief Request the parameter of this widget from the MAV */
@@ -43,7 +46,7 @@ protected slots:
protected:
QString parameterName; ///< Key/Name of the parameter
- float parameterValue; ///< Value of the parameter
+ QVariant parameterValue; ///< Value of the parameter
double parameterScalingFactor; ///< Factor to scale the parameter between slider and true value
float parameterMin;
float parameterMax;
diff --git a/src/ui/designer/QGCParamSlider.ui b/src/ui/designer/QGCParamSlider.ui
index f350967..488be8f 100644
--- a/src/ui/designer/QGCParamSlider.ui
+++ b/src/ui/designer/QGCParamSlider.ui
@@ -7,7 +7,7 @@
<x>0</x>
<y>0</y>
<width>789</width>
- <height>155</height>
+ <height>158</height>
</rect>
</property>
<property name="windowTitle">
@@ -147,7 +147,7 @@
</widget>
</item>
<item row="2" column="2">
- <widget class="QDoubleSpinBox" name="valueSpinBox">
+ <widget class="QDoubleSpinBox" name="doubleValueSpinBox">
<property name="minimum">
<double>-999999999.000000000000000</double>
</property>
@@ -246,6 +246,16 @@
</property>
</widget>
</item>
+ <item row="2" column="4">
+ <widget class="QSpinBox" name="intValueSpinBox">
+ <property name="minimum">
+ <number>-999999999</number>
+ </property>
+ <property name="maximum">
+ <number>999999999</number>
+ </property>
+ </widget>
+ </item>
</layout>
</widget>
<resources/>
diff --git a/src/ui/designer/QGCToolWidget.cc b/src/ui/designer/QGCToolWidget.cc
index b83437b..b3baa64 100644
--- a/src/ui/designer/QGCToolWidget.cc
+++ b/src/ui/designer/QGCToolWidget.cc
@@ -47,7 +47,6 @@ QGCToolWidget::QGCToolWidget(const QString& title, QWidget *parent) :
}
this->setWindowTitle(title);
- //setObjectName(title+"WIDGET");
QList<UASInterface*> systems = UASManager::instance()->getUASList();
foreach (UASInterface* uas, systems)
@@ -64,8 +63,8 @@ QGCToolWidget::QGCToolWidget(const QString& title, QWidget *parent) :
QGCToolWidget::~QGCToolWidget()
{
- if (mainMenuAction) delete mainMenuAction;
- QGCToolWidget::instances()->remove(widgetTitle);
+ if (mainMenuAction) mainMenuAction->deleteLater();
+ if (QGCToolWidget::instances()) QGCToolWidget::instances()->remove(widgetTitle);
delete ui;
}
@@ -99,6 +98,7 @@ QList<QGCToolWidget*> QGCToolWidget::createWidgetsFromSettings(QWidget* parent,
else
{
settings = new QSettings();
+ qDebug() << "LOADING SETTINGS FROM DEFAULT" << settings->fileName();
}
QList<QGCToolWidget*> newWidgets;
@@ -206,10 +206,12 @@ void QGCToolWidget::storeWidgetsToSettings(QString settingsFile)
if (!settingsFile.isEmpty())
{
settings = new QSettings(settingsFile, QSettings::IniFormat);
+ qDebug() << "STORING SETTINGS TO" << settings->fileName();
}
else
{
settings = new QSettings();
+ qDebug() << "STORING SETTINGS TO DEFAULT" << settings->fileName();
}
settings->beginWriteArray("QGC_TOOL_WIDGET_NAMES");
@@ -228,6 +230,12 @@ void QGCToolWidget::storeWidgetsToSettings(QString settingsFile)
delete settings;
}
+void QGCToolWidget::storeSettings()
+{
+ QSettings settings;
+ storeSettings(settings);
+}
+
void QGCToolWidget::storeSettings(const QString& settingsFile)
{
QSettings settings(settingsFile, QSettings::IniFormat);
@@ -271,6 +279,7 @@ void QGCToolWidget::contextMenuEvent (QContextMenuEvent* event)
QMenu menu(this);
menu.addAction(addParamAction);
menu.addAction(addCommandAction);
+ menu.addSeparator();
menu.addAction(setTitleAction);
menu.addAction(exportAction);
menu.addAction(importAction);
@@ -281,7 +290,6 @@ void QGCToolWidget::contextMenuEvent (QContextMenuEvent* event)
void QGCToolWidget::hideEvent(QHideEvent* event)
{
// Store settings
- storeWidgetsToSettings();
QWidget::hideEvent(event);
}
@@ -340,6 +348,7 @@ QList<QGCToolWidgetItem*>* QGCToolWidget::itemList()
void QGCToolWidget::addParam()
{
QGCParamSlider* slider = new QGCParamSlider(this);
+ connect(slider, SIGNAL(destroyed()), this, SLOT(storeSettings()));
if (ui->hintLabel)
{
ui->hintLabel->deleteLater();
@@ -352,6 +361,7 @@ void QGCToolWidget::addParam()
void QGCToolWidget::addCommand()
{
QGCCommandButton* button = new QGCCommandButton(this);
+ connect(button, SIGNAL(destroyed()), this, SLOT(storeSettings()));
if (ui->hintLabel)
{
ui->hintLabel->deleteLater();
@@ -368,6 +378,7 @@ void QGCToolWidget::addToolWidget(QGCToolWidgetItem* widget)
ui->hintLabel->deleteLater();
ui->hintLabel = NULL;
}
+ connect(widget, SIGNAL(destroyed()), this, SLOT(storeSettings()));
toolLayout->addWidget(widget);
}
@@ -436,7 +447,6 @@ void QGCToolWidget::setTitle(QString title)
QWidget::setWindowTitle(title);
if (parent) parent->setWindowTitle(title);
- storeWidgetsToSettings();
emit titleChanged(title);
if (mainMenuAction) mainMenuAction->setText(title);
}
diff --git a/src/ui/designer/QGCToolWidget.h b/src/ui/designer/QGCToolWidget.h
index 8747689..80ab4fc 100644
--- a/src/ui/designer/QGCToolWidget.h
+++ b/src/ui/designer/QGCToolWidget.h
@@ -53,6 +53,8 @@ public slots:
void storeSettings(QSettings& settings);
/** @brief Store this widget to a settings file */
void storeSettings(const QString& settingsFile);
+ /** @brief Store this widget to a settings file */
+ void storeSettings();
/** @brief Store the view id and dock widget area */
void setViewVisibilityAndDockWidgetArea(int view, bool visible, Qt::DockWidgetArea area);
diff --git a/src/ui/map3D/QGCGoogleEarthView.cc b/src/ui/map3D/QGCGoogleEarthView.cc
index 67550c7..8900ff5 100644
--- a/src/ui/map3D/QGCGoogleEarthView.cc
+++ b/src/ui/map3D/QGCGoogleEarthView.cc
@@ -610,7 +610,8 @@ void QGCGoogleEarthView::updateState()
// Update all MAVs
QList<UASInterface*> mavs = UASManager::instance()->getUASList();
- foreach (UASInterface* currMav, mavs) {
+ foreach (UASInterface* currMav, mavs)
+ {
uasId = currMav->getUASID();
lat = currMav->getLatitude();
lon = currMav->getLongitude();
@@ -637,9 +638,9 @@ void QGCGoogleEarthView::updateState()
// Microsoft API available in Qt - improvements wanted
// First check if a new WP should be created
-// bool newWaypointPending = .to
bool newWaypointPending = documentElement("newWaypointPending").toBool();
- if (newWaypointPending) {
+ if (newWaypointPending)
+ {
bool coordsOk = true;
bool ok;
double latitude = documentElement("newWaypointLatitude").toDouble(&ok);
@@ -648,15 +649,14 @@ void QGCGoogleEarthView::updateState()
coordsOk &= ok;
double altitude = documentElement("newWaypointAltitude").toDouble(&ok);
coordsOk &= ok;
- if (coordsOk) {
+ if (coordsOk)
+ {
// Add new waypoint
- if (mav) {
+ if (mav)
+ {
int nextIndex = mav->getWaypointManager()->getWaypointList().count();
Waypoint* wp = new Waypoint(nextIndex, latitude, longitude, altitude, true);
wp->setFrame(MAV_FRAME_GLOBAL);
-// wp.setLatitude(latitude);
-// wp.setLongitude(longitude);
-// wp.setAltitude(altitude);
mav->getWaypointManager()->addWaypoint(wp);
}
}
@@ -666,7 +666,8 @@ void QGCGoogleEarthView::updateState()
// Check if a waypoint should be moved
bool dragWaypointPending = documentElement("dragWaypointPending").toBool();
- if (dragWaypointPending) {
+ if (dragWaypointPending)
+ {
bool coordsOk = true;
bool ok;
double latitude = documentElement("dragWaypointLatitude").toDouble(&ok);
@@ -677,21 +678,27 @@ void QGCGoogleEarthView::updateState()
coordsOk &= ok;
// UPDATE WAYPOINTS, HOME LOCATION AND OTHER LOCATIONS
- if (coordsOk) {
+ if (coordsOk)
+ {
QString idText = documentElement("dragWaypointIndex").toString();
- if (idText == "HOME") {
+ if (idText == "HOME")
+ {
qDebug() << "HOME UPDATED!";
UASManager::instance()->setHomePosition(latitude, longitude, altitude);
ui->setHomeButton->setChecked(false);
- } else {
+ }
+ else
+ {
// Update waypoint or symbol
- if (mav) {
+ if (mav)
+ {
QVector<Waypoint*> wps = mav->getWaypointManager()->getGlobalFrameAndNavTypeWaypointList();
bool ok;
int index = idText.toInt(&ok);
- if (ok && index >= 0 && index < wps.count()) {
+ if (ok && index >= 0 && index < wps.count())
+ {
Waypoint* wp = wps.at(index);
wp->setLatitude(latitude);
wp->setLongitude(longitude);
@@ -700,7 +707,9 @@ void QGCGoogleEarthView::updateState()
}
}
}
- } else {
+ }
+ else
+ {
// If coords were not ok, move the view in google earth back
// to last acceptable location
updateWaypointList(mav->getUASID());
diff --git a/src/ui/uas/UASView.cc b/src/ui/uas/UASView.cc
index d9d15c5..74dae8c 100644
--- a/src/ui/uas/UASView.cc
+++ b/src/ui/uas/UASView.cc
@@ -71,7 +71,7 @@ UASView::UASView(UASInterface* uas, QWidget *parent) :
hilAction(new QAction("Enable Hardware-in-the-Loop Simulation", this )),
selectAirframeAction(new QAction("Choose Airframe", this)),
setBatterySpecsAction(new QAction("Set Battery Options", this)),
- lowPowerModeEnabled(false),
+ lowPowerModeEnabled(true),
m_ui(new Ui::UASView)
{
// FIXME XXX
@@ -140,7 +140,7 @@ UASView::UASView(UASInterface* uas, QWidget *parent) :
connect(refreshTimer, SIGNAL(timeout()), this, SLOT(refresh()));
if (lowPowerModeEnabled)
{
- refreshTimer->start(updateInterval*10);
+ refreshTimer->start(updateInterval*3);
} else {
refreshTimer->start(updateInterval);
}